Ta8435h Hq Tos

TA8435H/HQ

2005-08-04 1

TOSHIBA BIPOLAR LINEAR INTEGRATED CIRCUIT SILICON MONOLITHIC

TA8435H/HQ PWM CHOPPER-TYPE BIPOLAR STEPPING MOTOR DRIVER. The TA8435H/HQ is a PWM chopper-type sinusoidal micro-step bipolar stepping motor driver.

Sinusoidal micro-step operation is achieved using only a clock signal input by means of built-in hardware. FEATURES z Single-chip bipolar sinusoidal micro-step stepping motor

driver z Output current up to 1.5 A (AVE.) and 2.5 A (PEAK) z PWM chopper-type z Structured by high voltage Bi-CMOS process technology z Forward and reverse rotation are available z 2-, 1-2-, W1-2-, and 2W1-2-phase modes, and one- or two-clock

drives can be selected. z Package: HZIP25-P z Input pull-up resistor equipped with RESET pin: R = 100 k (typ.) z Output monitor available with MO IO ( MO ) = 2 mA (MAX.) z Equipped with RESET and ENABLE pins.

Weight: 9.86 g (typ.)

TA8435HQ: The TA8435HQ is an Sn-plated product that includes Pb. The following conditions apply to solderability: *Solderability 1. Use of Sn-63 Pb solder bath

*solder bath temperature = 230C *dipping time = 5 seconds *number of times = once *use of R-type flux

2. Use of Sn-3.0Ag-0.5Cu solder bath *solder bath temperature = 245C *dipping time = 5 seconds *number of times = once *use of R-type flux

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BLOCK DIAGRAM

Non-connection

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PIN CONNECTION (top view)

Note: NC: No connection

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PIN FUNCTION

PIN No SYMBOL FUNCTIONAL DESCRIPTION

1 SG Signal GND

2 RESET L : RESET

3 ENABLE L : ENABLE, H: OFF

4 OSC Chopping oscillation is determined by the external capacitor

5 CW / CCW Forward / Reverse switching terminal.

6 CK2 Clock input terminal.

7 CK1 Clock input terminal.

8 M1 Excitation control input

9 M2 Excitation control input

10 REF IN VNF control input

11 MO Monitor output

12 NC No connection.

13 VCC Voltage supply for logic.

14 NC No connection.

15 VMB Output power supply terminal.

16 B Output B

17 PGB Power GND.

18 NFB Bch output current detection terminal.

19 B Output B

20 A Output A

21 NFA Ach output current detection terminal.

22 PGA Power GND

23 A Output A

24 VMA Output power supply terminal.

25 NC No connection

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OUTPUT CIRCUIT

INPUT CIRCUIT z CK1, CK2, CW / CCW, M1,

M2, REF IN: Terminals z RESET , ENABLE : Terminals z OSC: Terminal

Equipped with 100 k of pull-up resistance.

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OSCILLATOR FREQUENCY CALCULATION The sawtooth oscillator (OSC) circuit consists of Q1 through Q4 and R1 through R4. Q2 is turned off when VOSC is less than the voltage of 2.5 V + VBE (Q2), a value that is approximately equal to 2.85 V. VOSC is increased by COSC charging through R1. Q3 and Q4 are turned on when VOSC becomes 2.85 V (High level.) The Low level of V (4) pin is equal to VBE(Q2) + V(SAT)(Q4), which is approximately equal to 1.4 V. VOSC is calculated by following equation:

= 1R C

1 exp1 5VOSCOSC

------------------- (1).

Assuming that VOSC = 1.4 V (t = t1) and = 2.85 V (t = t2), and given that COSC is the external capacitance connected to pin (4) and R1 is an on-chip 10 k resistor, the OSC frequency is calculated as follows:

)5

1.4 1( n 1R C1t OSC = l ---------------------- (2),

)5

2.85 1( n 1R C2t OSC = l -------------------- (3),

))5

2.85 1( n 1R )5

1.4 1( n1(R C

1t t

1fOSC12

OSC

== ll

F):(kHz)(C C 5.151

OSCOSC

= .

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ENABLE AND RESET FUNCTION AND MO SIGNAL

Figure 1: 1-2 phase drive mode (M1: H, M2: L) The ENABLE signal at High level disables only the output signals. Internal logic functions proceed in accordance with input clock signals and without regard to the ENABLE signal. Therefore output current is initiated by the timing of the internal logic circuit after release of disable mode. Figure 1 shows the ENABLE functions for when 1-2 phase drive is selected for the system.

Figure 2: 1-2 phase drive mode (M1: H, M2: L)

The RESET signal at Low level not only turns off the output signals but also stops the internal clock functions, while MO (Monitor Output) signals are set to low. Output signals are initiated from the initial point after release of RESET (High), as shown in Figure 2. MO signals can be used as rotation and initial signals for stable rotation checking.

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FUNCTION INITIAL MODE INPUT

CK1 CK2 CW / CCW RESET ENABLEMODE EXCITATIONMODE

A PHASE CURRENT

B PHASE CURRENT

H L H L CW 2-Phase 100% 100%

L L H L INHIBIT (Note) 1-2- Phase 100% 0%

H L H L CCW W1-2-Phase 100% 0%

L L H L INHIBIT (Note) 2W1-2-Phase 100% 0%

H H H L CCW

L H H L INHIBIT (Note)

H H H L CW

L H H L INHIBIT (Note)

X X X L L RESET

X X X X H Z

Z: High Impedance

X: Dont Care

INPUT

M1 M2 MODE

(EXCITATION)

L L 2-Phase

H L 1-2-Phase

L H W1-2-Phase

H H 2W1-2-Phase

2-PHASE EXCITATION (M1: L, M2: L, CW MODE)

1-2-PHASE EXCITATION (M1: H, M2: L, CW MODE)

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W1-2-PHASE EXCITATION (M1: L, M2: H, CW MODE)

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2W1-2-PHASE EXCITATION (M1: H, M2: H, CW MODE)

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MAXIMUM RATINGS (Ta = 25C)

CHARACTERISTIC SYMBOL RATING UNIT

Supply Voltage VCC 5.5 V

Output Voltage VM 40 V

PEAK IO (PEAK) 2.5 Output Current

AVE IO (AVE.) 1.5 A

MO Output Current IO ( MO ) 2 mA

Input Voltage VIN ~VCC V

5 (Note 1) Power Dissipation PD

43 (Note 2) W

Operating Temperature Topr 40~85 C

Storage Temperature Tstg 55~150 C

Feed Back Voltage VNF 1.0 V

Note 1: No heat sink Note 2: Tc = 85C

RECOMMENDED OPERATING CONDITIONS (Ta = 20~75C)

CHARACTERISTIC SYMBOL TEST CONDITION MIN TYP. MAX UNIT

Supply Voltage VCC 4.5 5.0 5.5 V

Output Voltage VM 21.6 24 26.4 V

Output Current IOUT 1.5 A

Input Voltage VIN VCC V

Clock Frequency fCK 5 kHz

OSC Frequency fOSC 15 80 kHz

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ELECTRICAL CHARACTERISTICS (Ta = 25C, VCC = 5 V, VM = 24 V)

CHARACTERISTIC SYMBOL TEST CIRCUIT

TEST CONDITION MIN TYP. MAX UNIT

High VIN (H) 3.5 VCC+ 0.4

Input Voltage Low VIN (L)

GND 0.4 1.5

V

Input Hysteresis Voltage VH

1 M1, M2, CW / CCW, REF IN ENABLE , CK1, CK2 RESET

600 mV

IIN1 (H) M1, M2, REF IN, VIN = 5.0 V 100 nA

IIN1 (L) RESET , ENABLE , VIN = 0 V INTERNAL PULLUP RESISTOR 10 50 100 A Input Current

IIN2 (L)

1

SOURCE TYPE, VIN = 0 V 100 nA

ICC1

Output Open, RESET : H ENABLE : L (2, 12 phase excitation)

10 18

ICC2

Output Open, RESET : H ENABLE : L (W12, 2W12 phase excitation)

10 18

ICC3 RESET : L, ENABLE : H 5

Quiescent Current VCC Terminal

ICC4

1

RESET : H, ENABLE : H 5

mA

High VNF (H) 3 REF IN H Output Open 0.72 0.8 0.88Comparator

Reference Voltage Low VNF (L)

REF IN L Output Open

(Note)0.45 0.5 0.55

V

Output Differential VO B / A, COSC = 0.0033 F, RNF = 0.8

10 10 %

VNF (H) VNF (L) VNF VNF (L) / VNF (H) COSC = 0.0033 F, RNF = 0.8

56 63 70 %

NF Terminal Current INF SOURCE TYPE 170 A

Maximum OSC Frequency fOSC (MAX.) 100 kHz

Minimum OSC Frequency fOSC (MIN.) 10 kHz

OSC Frequency fOSC COSC = 0.0033 F 25 44 62 kHz

Minimum Clock Pulse Width tW (CK) 1.0 s

VOH ( MO ) IOH = 40 A 4.5 4.9 VCCOutput Voltage VOL (MO)

IOL = 40 A GND 0.1 0.5

V

Note: 2-phase excitation, RNF = 0.7 , COSC = 0.0033 F

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OUTPUT BLOCK

CHARACTERISTIC SYMBOL TEST CIR CUIT


Upper Side VSAT U1 2.1 2.8

Lower Side VSAT L1 IOUT = 1.5 A

1.3 2.0


Lower Side VSAT L2 IOUT = 0.8 A

1.1 1.5


Output Saturation Voltage

Lower Side VSAT L3

4

IOUT = 2.5 A

Pulse width 30 ms 1.8 2.2

V

Upper Side VF U1 2.0 3.0

Lower Side VF L1 IOUT = 1.5 A

1.5 2.1

Upper Side VF U2 2.5 3.3

Diode Forward Voltage

Lower Side VF L2

5 IOUT = 2.5 A

Pulse width 30 ms 1.8 2.5

V

IM1

ENABLE : "H" Level, Output Open

RESET : "L" Level 50 A

Output Dark Current (A + B Channels)

IM2

2 ENABLE : "L" Level

Output Open

RESET : "H" Level 8 15 mA

2W12 W12 12 = 0 100

2W12 = 1 / 8 100

2W12 W12 = 2 / 8 86 91 96

2W12 = 3 / 8 78 83 88

2W12 W12 12 = 4 / 8 66.4 71.4 76.4

2W12 = 5 / 8 50.5 55.5 60.5

2W12 W12 = 6 / 8 35 40 45

2W12 = 7 / 8

REF IN : H RNF = 0.8 COSC = 0.0033 F

15 20 25

AB Chopping Current (Note)

2 Phase Excitation Mode VECTOR

VECTOR

100

%

Note: Maximum current ( = 0): 100% 2W12 : 2W1-2-phase excitation mode W12 : W1-2-phase excitation mode 12 : 1-2-phase excitation mode

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CHARACTERISTIC SYMBOL TESTCIRCUIT


2W12 W12 12 = 0 100

2W12 = 1 / 8 100

2W12 W12 = 2 / 8 86 91 96

2W12 = 3 / 8 78 83 88

2W12 W12 12 = 4 / 8 66.4 71.4 76.4

2W12 = 5 / 8 50.5 55.5 60.5

2W12 W12 = 6 / 8 35 40 45

2W12 = 7 / 8

REF IN : H RNF = 0.8 COSC = 0.0033 F

15 20 25

AB Chopping Current (Note)

2 Phase Excitation Mode VECTOR

VECTOR

100

%

= 0 / 8 1 / 8 0

= 1 / 8 2 / 8 32 72 112

= 2 / 8 3 / 8 24 64 104

= 3 / 8 4 / 8 53 93 133

= 4 / 8 5 / 8 87 127 167

= 5 / 8 6 / 8 84 124 164

Feed Back Voltage Step VNF

= 6 / 8 7 / 8

REF IN : HRNF = 0.8 COSC = 0.0033 F

120 160 200

mV

tr 0.3

tf

RL = 2 , VNF = 0 V, CL = 15 pF 2.2

tpLH 1.5

tpHL CK~Output

2.7

tpLH 5.4

tpHL OSC~Output

6.3

tpLH 2.0

tpHL RESET ~Output

2.5

tpLH 5.0

Output Tr Switching Characteristics

tpHL

7

ENABLE ~Output 6.0

s

Upper Side IOH 50 Output Leakage Current Lower Side IOL

6 VM = 30 V 50

A

Note: Maximum current ( = 0): 100% 2W12 : 2W1-2-phase excitation mode W12 : W1-2-phase excitation mode 12 : 1-2-phase excitation mode

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TEST CIRCUIT 1 VIN (H), (L), IIN (H), (L)

TEST CIRCUIT 2 ICC, IM

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TEST CIRCUIT 3 VNF (H), (L)

TEST CIRCUIT 4 VCE (SAT) UPPER SIDE, LOWER SIDE

Note: Calibrate Io to 1.5 A / 0.8 A by RL

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TEST CIRCUIT 5 VFU, VFL

TEST CIRCUIT 6 IOH, IOL

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AC ELECTRICAL CHARACTERISTICS, MEASUREMENT WAVE CK (OSC)OUT

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OUTPUT CURRENT VECTOR ORBIT (normalized to 90 per step)

ROTATION ANGLE VECTOR LENGTH

IDEAL TA8435H/HQ IDEAL TA8435H/HQ

0 0 0 100 100.00

1 11.25 11.31 100 101.98

2 22.5 23.73 100 99.40

3 33.75 33.77 100 99.85

4 45 45 100 100.97 141.42

5 56.25 56.23 100 99.85

6 67.5 66.27 100 99.40

7 78.75 78.69 100 101.98

8 90 90 100 100.00

12 / W12 / 2W12-Phase 2-Phase

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APPLICATION CIRCUIT

Note 1: A Schottky diode (3GWJ42) for preventing punchthrough current should also be connected between each output (pin 16 / 19 / 20 / 23).

Note 2: The GND pattern should be laid out at one point to prevent common impedance. Note 3: A capacitor for noise suppression should be connected between the power supply (VCC, VM) and GND to

stabilize operation. Note 4: Utmost care is necessary in the design of the output, VM and GND lines since the IC may be destroyed by

shortcircuiting between outputs, air contamination faults, or faults due to improper grounding.

TA84

35H

/HQ

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When using TA8435H/HQ

0. Introduction

The TA8435H/HQ controls the PWM to set the stepping motor winding current to a constant current. The device is a micro-step driver IC used to drive the stepping motor efficiently at low vibration.

1. Micro-step drive

The TA8435H/HQ drives the stepping motor in micro steps with a maximum resolution of 1/8 of the 2-phase stepping angle (in 2W1-2-phase mode).

In micro step operation, A-phase and B-phase current levels are set inside the IC so that the composite vector size and the rotation angle are even. Just inputting clock signals rotates the stepping motor in micro steps.

2. PWM control and output current setting

(1) Output current path (PWM control)

The TA8435H/HQ controls the PWM by turning the upper power transistor on and off. Here, current flows as shown in the figure below.

(2) Setting of output current by REF-IN input and current detection resistor

The motor current (maximum current for micro-step drive) IO is set as shown in the following equation, using REF-IN input and the external current detection resistor RNF. IO = VREF / RNF

where, REFIN = High, VREF = 0.8 V REFIN = Low, VREF = 0.5 V

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3. Logic control

(1) Clock input for rotation direction control To switch rotation between forward and reverse, there are two types of clock input: one-clock input and two-clock input.

(a) One-clock input One clock pin, CK1 or CK2, is used for clock input. In this case, rotation is switched between forward or reverse using a CW or CCW signal.

(b) Two-clock input Both clock pins, CK1 and CK2, are used for clock input. Switching between CK1 and CK2 controls forward and reverse rotation.

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(2) Mode setting Setting M1 and M2 selects one of the following modes: 2-phase, 1-2-phase, W1-2-phase, and 2W1-2-phase modes.

(3) Monitor ( MO ) output

The product supports the use of monitor output to monitor the current waveform location. For 2-phase mode, the MO output is Low if the timing of the A-phase current = 100% and that of

the B-phase current = -100%. For 1-2-phase, W1-2-phase, or 2W1-2-phase mode, the MO output is Low if the timing of the

A-phase current = 100% and and that of the B-phase current = 0%. (4) Reset pin

The product supports the use of reset input to reset the internal counter. Setting RESET to Low resets the internal counter, forcing the output current to the same value as that when the MO output is Low.

(5) Phase mode switching

To avoid step changing during motor rotation, the current must not fluctuate at phase mode switching. Pay attention to the following points.

(a) During switching between 2-phase and other phase modes, the current fluctuates. (b) When switching between phase modes other than 2-phase, the current can be switched without

fluctuation if the timing of MO output = Low. However, when switching as follows, set RESET to Low beforehand: from 1-2-phase to W1-2-phase or 2W1-2-phase mode; from W1-2-phase to 2W1-2-phase mode.

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4. PWM oscillation frequency (external capacitor setting) An external capacitor connected to the OSC pin is used to generate internally a sawtooth waveform.

PWM is controlled using this frequency. Toshiba recommend 3300 pF for the capacitance, taking variations between ICs into consideration.

5. External Schottky diode

A parasitic diode can be supported on the lower side of the output. When PWM is controlled, current flows to this parasitic diode. Unfortunately, this current has the effect of generating punch-through current and micro-step waveform fluctuation. For this reason, be sure to connect a Schottky barrier diode externally.

This external diode can also reduce heat generated in the IC.

6. Power dissipation The IC power dissipation is determined by the following equation (where the Schottky diode is connected between the output pin and GND):

P = VCC ICC + VM IM + IO (tON VSATU + VSATL) tON = TON / TS (PWM control ON duty).

The higher the ambient temperature, the smaller the power dissipation. Check the PD-Ta curve, and be sure to design the heat dissipation with a sufficient margin.

7. Heatsink fin processing

The IC fin (rear) is electrically connected to the rear of the chip. When current flows to the fin, the IC malfunctions. If there is any possibility of a voltage being generated between the IC GND and the fin, either ground

the fin or insulate it.

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PACKAGE DIMENSIONS HZIP25P1.27 Unit: mm

Weight: 9.86 g (typ.)

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Notes on contents 1. Block Diagrams Some of the functional blocks, circuits, or constants in the block diagram may be omitted or simplified for explanatory purposes. 2. Equivalent Circuits The equivalent circuit diagrams may be simplified or some parts of them may be omitted for explanatory purposes. 3. Timing Charts Timing charts may be simplified for explanatory purposes. 4. Maximum Ratings The absolute maximum ratings of a semiconductor device are a set of specified parameter values that must not be exceeded during operation, even for an instant.

If any of these ratings are exceeded during operation, the electrical characteristics of the device may be irreparably altered, in which case the reliability and lifetime of the device can no longer be guaranteed.

Moreover, any exceeding of the ratings during operation may cause breakdown, damage and/or degradation in other equipment. Applications using the device should be designed so that no maximum rating will ever be exceeded under any operating conditions.

Before using, creating and/or producing designs, refer to and comply with the precautions and conditions set forth in this document. 5. Application Circuits The application circuits shown in this document are provided for reference purposes only. Thorough evaluation is required in the mass production design phase. In furnishing these examples of application circuits, Toshiba does not grant the use of any industrial property rights. 6. Test Circuits Components in test circuits are used only to obtain and confirm device characteristics. These components and circuits are not guaranteed to prevent malfunction or failure in application equipment. Handling of the IC Ensure that the product is installed correctly to prevent breakdown, damage and/or degradation in the product or equipment. Over-current protection and heat protection circuits These protection functions are intended only as a temporary means of preventing output short circuits or other abnormal conditions and are not guaranteed to prevent damage to the IC.

If the guaranteed operating ranges of this product are exceeded, these protection features may not operate and some output short circuits may result in the IC being damaged.

The over-current protection feature is intended to protect the IC from temporary short circuits only. Short circuits persisting over long periods may cause excessive stress and damage the IC. Systems should

be configured so that any over-current condition will be eliminated as soon as possible. Counter-electromotive force When the motor reverses or stops, the effect of counter-electromotive force may cause the current to flow to the power source.

If the power supply is not equipped with sink capability, the power and output pins may exceed the maximum rating.

The counter-electromotive force of the motor will vary depending on the conditions of use and the features of the motor. Therefore make sure there will be no damage to or operational problem in the IC, and no damage to or operational errors in peripheral circuits caused by counter-electromotive force.

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TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the Handling Guide for Semiconductor Devices, or TOSHIBA Semiconductor Reliability Handbook etc..

The TOSHIBA products listed in this document are intended for usage in general electronics applications (computer, personal equipment, office equipment, measuring equipment, industrial robotics, domestic appliances, etc.). These TOSHIBA products are neither intended nor warranted for usage in equipment that requires extraordinarily high quality and/or reliability or a malfunction or failure of which may cause loss of human life or bodily injury (Unintended Usage). Unintended Usage include atomic energy control instruments, airplane or spaceship instruments, transportation instruments, traffic signal instruments, combustion control instruments, medical instruments, all types of safety devices, etc.. Unintended Usage of TOSHIBA products listed in this document shall be made at the customers own risk.

The products described in this document are subject to the foreign exchange and foreign trade laws. The information contained herein is presented only as a guide for the applications of our products. No

responsibility is assumed by TOSHIBA CORPORATION for any infringements of intellectual property or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any intellectual property or other rights of TOSHIBA CORPORATION or others.

The information contained herein is subject to change without notice.

000707EBARESTRICTIONS ON PRODUCT USE

Ta8435h Hq Tos

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